CN113275679A - Electrolytic grinding machining system and method for industrial robot - Google Patents
Electrolytic grinding machining system and method for industrial robot Download PDFInfo
- Publication number
- CN113275679A CN113275679A CN202110517729.6A CN202110517729A CN113275679A CN 113275679 A CN113275679 A CN 113275679A CN 202110517729 A CN202110517729 A CN 202110517729A CN 113275679 A CN113275679 A CN 113275679A
- Authority
- CN
- China
- Prior art keywords
- electrolytic grinding
- industrial robot
- electrolytic
- electrolyte
- workpiece
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23H—WORKING OF METAL BY THE ACTION OF A HIGH CONCENTRATION OF ELECTRIC CURRENT ON A WORKPIECE USING AN ELECTRODE WHICH TAKES THE PLACE OF A TOOL; SUCH WORKING COMBINED WITH OTHER FORMS OF WORKING OF METAL
- B23H5/00—Combined machining
- B23H5/06—Electrochemical machining combined with mechanical working, e.g. grinding or honing
- B23H5/08—Electrolytic grinding
Abstract
The embodiment of the invention provides an electrolytic grinding processing system and method for an industrial robot, and relates to the technical field of metal processing of industrial robots. The invention combines the electrolytic grinding composite processing method with the industrial robot platform to realize the high surface integrity processing of the curved surface parts of the complex difficult-to-process materials.
Description
Technical Field
The disclosure relates to the technical field of metal processing of industrial robots, in particular to an electrolytic grinding processing system and method for an industrial robot.
Background
With the development of the fields of aerospace, automobiles, energy sources and the like, more and more products are applied to curved-surface parts made of complex and difficult-to-machine materials. The fatigue failure of the parts is caused by the quality defects of the machined surfaces, such as machining tool marks, surface burns, surface ripples, poor roughness and the like, so that the integrity of the machined surfaces can be ensured, and the parts have an important function in safe and reliable work.
The electrolytic grinding processing is a processing method which mainly removes workpiece materials by electrochemical dissolution, and the mechanical grinding action is mainly responsible for scraping loose and soft passive films formed by the electrochemical action, and basically does not generate residual stress and deformation caused by cutting force on the surface of a workpiece, and generates thermal stress and flash burrs, cracks and burns caused by high-temperature grinding.
However, the inventor finds that due to the lack of effective feedback, the electrolytic grinding machining can only be applied to regular parts such as planes and cylindrical surfaces, and cannot meet the requirement of high surface integrity machining of curved parts made of complex and difficult-to-machine materials.
Disclosure of Invention
In view of this, the present disclosure aims to provide an electrolytic grinding machining system and a machining method for an industrial robot, which can realize intelligent control of a composite machining process and effectively solve technical problems in the prior art.
Based on the above-mentioned purpose, this disclosure provides an industrial robot electrolytic grinding system, includes:
a work table;
the industrial robot body is fixedly arranged on the workbench;
the tail end mounting rack is fixedly mounted on a tail end flange of the industrial robot body;
the electrolytic grinding head is fixedly arranged on the tail end mounting frame;
the conductive base is fixedly arranged on the marble table-board;
the anode of the power supply is connected to the conductive base, and the cathode wire is wired from the inside of the robot body and is connected with the electrolytic grinding head through the tail end mounting frame;
the electrolyte supply unit comprises a spray head, and the spray head is fixedly arranged on the tail end mounting frame;
the electrolytic grinding head grinds a workpiece placed on the conductive base, the sprayer sprays electrolyte to the electrolytic grinding head and a workpiece operation area, the electrolytic grinding head, the workpiece mounted on the conductive base and the electrolyte form an electrolytic loop, electrochemical machining is carried out on the workpiece, and the grinding machining is cooled.
As an optional embodiment, the electrolyte supply unit further comprises an electrolyte tank and an electrolyte pump, wherein electrolyte is stored in the electrolyte tank, and the electrolyte tank is connected to the spray head through a pipeline; the electrolyte pump is arranged on a pipeline between the electrolyte tank and the spray head.
As an optional implementation mode, the workbench is provided with a working groove, and the industrial robot and robot electrolytic grinding machining system further comprises a recycling pipeline for connecting the working groove and the electrolyte tank.
As an optional embodiment, the electrolyte supply unit further includes a filter, a flow meter, and a thermometer, and the filter, the flow meter, and the thermometer are installed on a pipeline between the electrolyte pump and the spray head.
As an optional implementation mode, a force sensor is installed on the electrolytic grinding head to feed back the grinding force during grinding, and the electrolytic grinding head is in communication connection with an industrial robot control cabinet through an upper computer so as to perform force/position control on the electrolytic grinding process.
As an optional implementation mode, the electric grinding machine further comprises a current detection module and a short-circuit protection module, wherein the current detection module is used for detecting the magnitude of the current of the electrochemical action and is in communication connection with an industrial robot control cabinet through an upper computer so as to perform electric/potential control on the electrolytic grinding process; the short-circuit protection module is connected to a power supply and used for timely cutting off the operation output of the power supply, the electrolyte unit and the industrial robot unit when a short circuit occurs in the machining process.
Corresponding to the electrolytic grinding machining system of the industrial robot, the embodiment of the invention also provides an electrolytic grinding machining method of the industrial robot, which is applied to the electrolytic grinding machining system of the industrial robot, and the electrolytic grinding machining method of the industrial robot comprises the following steps:
the tail end of the industrial robot clamps the electrolytic grinding head;
planning the path and track of the electrolytic grinding machining of the robot;
fixedly mounting a workpiece to be processed on a conductive base;
calibrating a machining initial position;
starting an electrolyte supply unit, and spraying electrolyte to a processing area of the workpiece by a spray head;
turning on a power supply;
the electrolytic grinding head, the workpiece and the electrolyte form an electrolytic loop so as to perform composite processing on the workpiece;
and self-adaptive control is carried out on the normal positions of the electrolytic grinding head and the processing track curve through current and force information feedback.
As an optional implementation, the method further includes:
detecting the current in the electrolytic loop;
based on the magnitude of the current, the position and attitude of the electrolytic grinding head are adjusted to adjust the electrochemical action.
As an optional implementation, the method further includes:
detecting the magnitude of grinding force during grinding;
and adjusting the position and the posture of the electrolytic grinding head based on the stress magnitude to control the grinding force.
As can be seen from the above description, according to the electrolytic grinding system and the processing method for the industrial robot provided by the embodiments of the present invention, the workpiece is placed on the conductive base, on one hand, the electrolytic grinding head directly grinds the workpiece, and on the other hand, the positive electrode of the power supply is connected to the conductive base, the negative electrode of the power supply is connected to the electrolytic grinding head, and during grinding, the electrolyte is sprayed to the processing area of the workpiece, so that an electrolytic loop is formed between the workpiece and the electrolytic grinding head, and since the workpiece is directly mounted on the conductive base, and the conductive base is connected to the positive electrode of the power supply, the workpiece can be electrolytically processed, so that the workpiece can be compositely processed; in addition, the current detection module and the grinding force measurement module are in communication connection with the robot controller through the upper computer, so that intelligent control of the electrolytic grinding composite machining process under multi-mode information fusion is realized, the machining intelligence can be effectively improved, and the machining quality can also be effectively improved.
Drawings
In order to more clearly illustrate the technical solutions in the present disclosure or related technologies, the drawings needed to be used in the description of the embodiments or related technologies are briefly introduced below, and it is obvious that the drawings in the following description are only embodiments of the present disclosure, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic diagram of an industrial robot electrolytic grinding machining system of an embodiment of the present disclosure;
fig. 2 is a schematic view of an electrolytic grinding machining method of an industrial robot according to an embodiment of the present disclosure.
In the figure, 1, a conductive base; 2. a workpiece; 3. a working groove; 4. an insulating layer; 5. a work table; 6. an electrolyte tank; 7. an electrolyte pump; 8. a filter; 9. a thermometer; 10. a flow meter; 11. an industrial robot control cabinet; 12. a short circuit protection module; 13. an upper computer; 14. a power supply cabinet; 15. a robot body; 16. a pipeline; 17. a mounting frame; 18. electrolytic grinding of the head; 19. a spray head;
Detailed Description
For the purpose of promoting a better understanding of the objects, aspects and advantages of the present disclosure, reference is made to the following detailed description taken in conjunction with the accompanying drawings.
In order to achieve the above object, as shown in fig. 1, an embodiment of the present invention provides an industrial robot electrolytic grinding machining system, including:
a work table 5;
an industrial robot body 15 fixedly mounted on the table 5;
a terminal mounting bracket 17 fixedly mounted on a terminal flange of the industrial robot body 15;
the conductive base 1 is arranged on the workbench 5;
an electrolytic grinding head 18 mounted on the end mounting bracket 17;
a power supply, the anode of which is connected to the conductive base 1 and the cathode of which is connected to the electrolytic grinding head 18;
an electrolyte supply unit including a spray head 19 fixedly mounted on the end mounting bracket 17;
among them, the electrolytic grinding head 18 grinds the workpiece 2 placed on the conductive base 1, the shower nozzle 19 sprays the electrolyte to the electrolytic grinding head 18 and the working area of the workpiece 2, the electrolytic grinding head 18, the workpiece 2 mounted on the conductive base 1, and the electrolyte form an electrolytic circuit, electrochemically processes the workpiece 2, and cools the grinding process.
In the embodiment of the invention, the workpiece 2 is placed on the conductive base 1, on one hand, the electrolytic grinding head 18 directly grinds the workpiece 2, and on the other hand, the anode of the power supply is connected to the conductive base 1, the cathode of the power supply is connected to the electrolytic grinding head 18, and during grinding, electrolyte is sprayed to the processing area of the workpiece 2, so that an electrolytic loop is formed between the workpiece 2 and the electrolytic grinding head 18, because the workpiece 2 is directly installed on the conductive base 1, and the conductive base 1 is connected to the anode of the power supply, the workpiece 2 can be electrolytically processed, so that the workpiece 2 is compositely processed, the surface processing quality can be effectively improved, and the processing efficiency can also be improved.
As an alternative embodiment, the electrolyte supply unit further comprises an electrolyte tank 6 and an electrolyte pump 7, wherein electrolyte is stored in the electrolyte tank 6, and the electrolyte tank 6 is connected to the spray head 19 through a pipeline 16; the electrolyte pump 7 is mounted on the line 16 between the electrolyte tank 6 and the spray head 19.
Thus, the electrolyte can be continuously supplied through the electrolyte tank 6 and the electrolyte pump 7.
Optionally, the negative lead of the power supply is routed from the inside of the robot body 15 and connected to the electrolytic grinding head 18 through the end mounting bracket 17.
Optionally, the workbench 5 is provided with a working tank 3, and the electrolytic grinding system of the industrial robot further includes a recycling pipeline 16 connecting the working tank 3 and the electrolyte tank 6, and configured to recycle the electrolyte sprayed from the spray nozzle 19 into the electrolyte tank 6.
Optionally, the electrolyte supply unit further comprises a filter 8, a flow meter 9 and a temperature meter 10, and the filter 8, the flow meter 9 and the temperature meter 10 are all mounted on the pipeline 16 between the electrolyte pump 7 and the spray head 19. In this way, the filter 8 filters the electrolyte to prevent the nozzle 19 from being clogged, the flow meter 9 feeds back the real-time flow rate of the electrolyte, and the thermometer 10 feeds back the temperature of the electrolyte.
Optionally, the industrial robot body 15 is a robot body 15.
Optionally, an insulating layer 4 is disposed between the conductive base 1 and the worktable 5. In this way, by providing the insulating layer 4, an insulating effect is formed. The material of the insulating layer 4 may be marble or the like.
As an optional implementation mode, the device further comprises a current detection module and a short-circuit protection module 12, wherein the current detection module is used for detecting the magnitude of the current of the electrochemical action and is in communication connection with the industrial robot control cabinet 11 through an upper computer 13 so as to perform electric/potential control on the electrolytic grinding process; the short-circuit protection module 12 is connected to a power supply and is used for timely cutting off the operation output of the power supply, the electrolyte unit and the industrial robot unit when a short circuit occurs in the machining process.
Optionally, the power supply is a pulse power supply, and the power supply is provided by the power supply cabinet 14.
Optionally, a pressure sensor is installed on the electrolytic grinding head 18 to feed back the stress of the electrolytic grinding head 18 during grinding.
Corresponding to the electrolytic grinding machining system of the industrial robot, the embodiment of the invention also provides an electrolytic grinding machining method of the industrial robot, which is applied to the electrolytic grinding machining system of the industrial robot as described above, as shown in fig. 2, and the electrolytic grinding machining method of the industrial robot comprises the following steps:
s100, clamping an electrolytic grinding head at the tail end of an industrial robot;
s200, planning the path and track of the electrolytic grinding machining of the robot;
s300, fixedly mounting a workpiece to be processed on a conductive base;
s400, calibrating a machining initial position;
s500, starting an electrolyte supply unit, and spraying electrolyte to a processing area of the workpiece by a spray head;
s600, turning on a power supply;
s700, forming an electrolytic loop by the electrolytic grinding head, the workpiece and the electrolyte so as to perform composite machining on the workpiece;
and S800, carrying out self-adaptive control on the normal positions of the electrolytic grinding head and the processing track curve through current and force information feedback.
In the embodiment of the invention, a workpiece is placed on the conductive base, on one hand, the electrolytic grinding head directly grinds the workpiece, on the other hand, the anode of the power supply is connected to the conductive base, the cathode of the power supply is connected to the electrolytic grinding head, and during grinding, electrolyte is sprayed to a processing area of the workpiece, so that an electrolytic loop is formed between the workpiece and the electrolytic grinding head.
As an optional implementation, the method further includes:
detecting the current in the electrolytic loop;
based on the magnitude of the current, the position and attitude of the electrolytic grinding head are adjusted to adjust the electrochemical action.
As an optional implementation, the method further includes:
detecting the grinding force of the electrolytic grinding head during grinding;
and adjusting the position and the posture of the electrolytic grinding head based on the stress magnitude to control the grinding force.
It is to be noted that technical terms or scientific terms used in the embodiments of the present disclosure should have a general meaning as understood by those having ordinary skill in the art to which the present disclosure belongs, unless otherwise defined. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect.
Those of ordinary skill in the art will understand that: the discussion of any embodiment above is meant to be exemplary only, and is not intended to intimate that the scope of the disclosure, including the claims, is limited to these examples; within the idea of the present disclosure, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present disclosure as described above, which are not provided in detail for the sake of brevity.
The disclosed embodiments are intended to embrace all such alternatives, modifications and variances which fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalents, improvements, and the like that may be made within the spirit and principles of the embodiments of the disclosure are intended to be included within the scope of the disclosure.
Claims (10)
1. An industrial robot electrolytic grinding system, comprising:
a work table;
the industrial robot body is fixedly arranged on the workbench;
the tail end mounting rack is fixedly mounted on a tail end flange of the industrial robot body;
the conductive base is arranged on the workbench;
the electrolytic grinding head is arranged on the tail end mounting frame;
the anode of the power supply is connected to the conductive base, and the cathode of the power supply is connected to the electrolytic grinding head;
the electrolyte supply unit comprises a spray head, and the spray head is fixedly arranged on the tail end mounting frame;
the electrolytic grinding head grinds a workpiece placed on the conductive base, the sprayer sprays electrolyte to an operation area of the electrolytic grinding head and the workpiece, the electrolytic grinding head, the workpiece mounted on the conductive base and the electrolyte form an electrolytic loop, electrochemical machining is carried out on the workpiece, and the grinding machining is cooled.
2. The electrolytic grinding machining system of an industrial robot according to claim 1, wherein the electrolyte supply unit further includes an electrolyte tank in which an electrolyte is stored and an electrolyte pump, the electrolyte tank being connected to a shower head through a pipe; the electrolyte pump is arranged on a pipeline between the electrolyte tank and the spray head.
3. The industrial robot electrolytic grinding machining system according to claim 2, wherein a work tank is provided on the table, and further comprising a recovery line connecting the work tank and the electrolytic solution tank.
4. The electrolytic grinding machining system of an industrial robot according to claim 3, wherein the electrolyte supply unit further includes a filter, a flow meter, and a thermometer, all of which are installed on a pipe between the electrolyte pump and the shower head.
5. The industrial robot electrolytic grinding machining system according to claim 1, wherein a pressure sensor is mounted on the electrolytic grinding head to feed back the force applied to the electrolytic grinding head during grinding.
6. The industrial robot electrolytic grinding machining system according to claim 1, wherein an insulating layer is provided between the conductive base and the table.
7. The industrial robot electrolytic grinding processing system according to claim 1, further comprising a current detection module and a short circuit protection module, wherein the current detection module is used for detecting the magnitude of the electrochemical action current and is in communication connection with an industrial robot control cabinet through an upper computer so as to perform electric/position control on the electrolytic grinding process; the short-circuit protection module is connected to a power supply and used for timely cutting off the operation output of the power supply, the electrolyte unit and the industrial robot unit when a short circuit occurs in the machining process.
8. An industrial robot electrolytic grinding machining method, characterized in that the industrial robot electrolytic grinding machining method is applied to the industrial robot electrolytic grinding machining system according to any one of claims 1 to 7, the industrial robot electrolytic grinding machining method comprising:
the tail end of the industrial robot clamps the electrolytic grinding head;
planning the path and track of the electrolytic grinding machining of the robot;
fixedly mounting a workpiece to be processed on a conductive base;
calibrating a machining initial position;
starting an electrolyte supply unit, and spraying electrolyte to a processing area of the workpiece by a spray head;
turning on a power supply;
the electrolytic grinding head, the workpiece and the electrolyte form an electrolytic loop so as to perform composite processing on the workpiece;
and self-adaptive control is carried out on the normal positions of the electrolytic grinding head and the processing track curve through current and force information feedback.
9. The electrolytic grinding machining method for an industrial robot according to claim 8, further comprising:
detecting the current in the electrolytic loop;
based on the magnitude of the current, the position and attitude of the electrolytic grinding head are adjusted to adjust the electrochemical action.
10. The electrolytic grinding machining method for an industrial robot according to claim 7, further comprising:
detecting the grinding force of the electrolytic grinding head during grinding;
and adjusting the position and the posture of the electrolytic grinding head based on the stress magnitude to control the grinding force.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110517729.6A CN113275679A (en) | 2021-05-12 | 2021-05-12 | Electrolytic grinding machining system and method for industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110517729.6A CN113275679A (en) | 2021-05-12 | 2021-05-12 | Electrolytic grinding machining system and method for industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113275679A true CN113275679A (en) | 2021-08-20 |
Family
ID=77278865
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110517729.6A Pending CN113275679A (en) | 2021-05-12 | 2021-05-12 | Electrolytic grinding machining system and method for industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113275679A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150202705A1 (en) * | 2014-01-17 | 2015-07-23 | Sikorsky Aircraft Corporation | Machine for machining gear teeth and gear teeth machining method |
| CN105855650A (en) * | 2016-05-10 | 2016-08-17 | 南京航空航天大学 | Double-tool-cathode electrolytic grinding and milling machining system and method for machining complicated thin wall |
| CN107638202A (en) * | 2017-11-08 | 2018-01-30 | 中国人民解放军第四军医大学 | A kind of burn wound grinding attachment |
| CN108907378A (en) * | 2018-10-08 | 2018-11-30 | 山东大学 | Electric conducting grinding head and ultrasonic vibration assisted electrolysis are ground complex-shaped surface mould molding machine |
| CN109957831A (en) * | 2019-04-10 | 2019-07-02 | 福建工程学院 | A kind of electrobrightening and residual stress detect integrated device |
| CN110560807A (en) * | 2019-09-20 | 2019-12-13 | 中国科学院工程热物理研究所 | Plane grinding and electrolytic combined machining device, system and method |
| CN112318319A (en) * | 2020-10-20 | 2021-02-05 | 天津大学 | Programming-free robot online constant-force grinding control system and method |
| CN112536690A (en) * | 2020-12-03 | 2021-03-23 | 昂纳信息技术（深圳）有限公司 | Grinding wheel grinding device and control method |
-
2021
- 2021-05-12 CN CN202110517729.6A patent/CN113275679A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150202705A1 (en) * | 2014-01-17 | 2015-07-23 | Sikorsky Aircraft Corporation | Machine for machining gear teeth and gear teeth machining method |
| CN105855650A (en) * | 2016-05-10 | 2016-08-17 | 南京航空航天大学 | Double-tool-cathode electrolytic grinding and milling machining system and method for machining complicated thin wall |
| CN107638202A (en) * | 2017-11-08 | 2018-01-30 | 中国人民解放军第四军医大学 | A kind of burn wound grinding attachment |
| CN108907378A (en) * | 2018-10-08 | 2018-11-30 | 山东大学 | Electric conducting grinding head and ultrasonic vibration assisted electrolysis are ground complex-shaped surface mould molding machine |
| CN109957831A (en) * | 2019-04-10 | 2019-07-02 | 福建工程学院 | A kind of electrobrightening and residual stress detect integrated device |
| CN110560807A (en) * | 2019-09-20 | 2019-12-13 | 中国科学院工程热物理研究所 | Plane grinding and electrolytic combined machining device, system and method |
| CN112318319A (en) * | 2020-10-20 | 2021-02-05 | 天津大学 | Programming-free robot online constant-force grinding control system and method |
| CN112536690A (en) * | 2020-12-03 | 2021-03-23 | 昂纳信息技术（深圳）有限公司 | Grinding wheel grinding device and control method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20200238414A1 (en) | Multifunctional Integrated Manufacturing System Based On Electrical Arc And Discharge Machining | |
| CN109590743B (en) | Composite manufacturing method for electric arc additive forming and generating electrolytic machining | |
| CN108145332A (en) | Robot electric arc increase and decrease material building mortion and method | |
| CN108372335B (en) | A kind of electrochemical machining method in intensive rectangle hole | |
| CN108971676B (en) | Tube electrode for electrolytic punching and cutting integrated machining, device and method | |
| CN114749806B (en) | Method for preparing cooling film holes on turbine blade with thermal barrier coating | |
| CN102825372B (en) | Copper-aluminum column resistance welder and welding control method thereof | |
| CN113275679A (en) | Electrolytic grinding machining system and method for industrial robot | |
| CN110756926A (en) | Electric spark electrolysis continuous machining method and tool for efficiently milling plane | |
| LU501400B1 (en) | Industrial robot electrolytic grinding processing system and processing method | |
| CN109759659A (en) | A kind of efficient roughening system of processing and method of contour surface | |
| JP5739819B2 (en) | Method and system for electromachining a workpiece | |
| CN104907649A (en) | Abrasive water jet-electric spark composite pass making method and device for metal part with thermal barrier coating | |
| CN110614439A (en) | High-reflectivity material laser connection method and device | |
| CN104209646A (en) | Fixed type projection welder and multi-section projection welding method | |
| CN105033371A (en) | Electromachining method for preventing electrochemical dispersion corrosion | |
| CN206356700U (en) | A kind of selective crest welding clamp with fast-holding function | |
| CN114193172A (en) | Cooperative control method of electric arc additive and impact reinforcement composite manufacturing device | |
| GB2389554A (en) | Machining apparatus and a method for machining | |
| CN204771007U (en) | Take thermal barrier coating metal parts's compound system hole device of abrasive water efflux electric spark | |
| CN103962704A (en) | Welding electrode head and welding system | |
| CN110893493B (en) | Electrolytic electric spark composite leveling tool and method for manufacturing rough metal surface by additive manufacturing | |
| CN210080893U (en) | Electric spark cutting table top machine tool based on small-diameter rod-shaped electrode | |
| CN105478868A (en) | Robot milling system with six-dimensional force sensor | |
| CN105328310A (en) | Automatic argon arc slotting and filler wire welding method for magnesium alloy lap welding |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210820 |